version: 66.03
glider: 126
mission: 7
dive: 86
start: 3 6 108 4 1 18
data:
$ID,126
$MISSION,7
$DIVE,86
$D_SURF,2
$D_FLARE,3
$D_TGT,990
$D_ABORT,1040
$D_NO_BLEED,100
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,413
$T_MISSION,496
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$USE_BATHY,-2
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1001
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0274
$MASS,51702
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0020000001
$HD_B,0.0099999998
$HD_C,4.2e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,47.599998
$TGT_DEFAULT_LON,-122.3
$TGT_AUTO_DEFAULT,0
$SM_CC,548.98138
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-621137.38
$T_RSLEEP,3
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,70
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,419
$PITCH_MAX,3700
$C_PITCH,2710
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,9.8999996
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,150
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.02
$PITCH_ADJ_DBAND,1
$ROLL_MIN,171
$ROLL_MAX,3756
$ROLL_DEG,30
$C_ROLL_DIVE,2325
$C_ROLL_CLIMB,1963
$HEAD_ERRBAND,15
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,34
$R_STBD_OVSHOOT,31
$ROLL_AD_RATE,200
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,3
$ROLL_ADJ_DBAND,0.029999999
$VBD_MIN,587
$VBD_MAX,3926
$C_VBD,2825
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00167
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$VBD_MAXERRORS,1
$CF8_MAXERRORS,0
$AH0_24V,91.800003
$AH0_10V,61.200001
$PRESSURE_YINT,-10.942498
$PRESSURE_SLOPE,0.000116483
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,500
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,5
$ALTIM_SENSITIVITY,4
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,35
$DEVICE3,53
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$SMARTS,0
$SMARTDEVICE1,-1
$SMARTDEVICE2,-1
$COMPASS_DEVICE,33
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043487432
$SEABIRD_T_H,0.00064342754
$SEABIRD_T_I,2.4770576e-05
$SEABIRD_T_J,2.5329045e-06
$SEABIRD_C_G,-9.9387798
$SEABIRD_C_H,1.0957668
$SEABIRD_C_I,-0.0017678341
$SEABIRD_C_J,0.00023932544
$GPS1,034538,1254.406,12034.890,33,1.1,33,-0.8
$_CALLS,5
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,-4.93
$_SM_ANGLEo,-50.7
$GPS2,040027,1254.362,12034.521,17,1.4,17,-0.8
$SPEED_LIMITS,0.138,0.148
$TGT_NAME,SABLAYAN_SB
$TGT_LATLONG,1252.040,12038.500
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,121.7,8373,-22.0,-7.990
$D_GRID,1296
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-2.33,-67.0,0.0,0.0,0,100,0.00,0.00,-75.50,0.000,6,0.000,0.000,414,2324,3100
$GC,102,-2.33,-67.0,0.4,-14.7,15,120,10.12,1.80,0.00,0.000,4,0.174,0.035,2198,1262,3102
$GC,187,-2.22,-67.0,24.2,-20.0,30,194,0.10,1.80,0.00,0.000,6,0.117,0.027,2221,2341,3102
$GC,532,-2.14,-67.0,85.5,-16.9,91,538,0.12,0.00,0.00,0.000,6,0.123,0.000,2244,2341,3103
$GC,874,-2.11,-67.0,140.0,-13.7,152,880,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2341,3103
$GC,1217,-2.11,-67.0,184.4,-12.1,213,1223,0.00,1.83,0.00,0.000,4,0.000,0.038,2244,1259,3104
$GC,1475,-2.11,-67.0,212.2,-11.0,259,1481,0.00,1.75,0.00,0.000,6,0.000,0.028,2244,2326,3104
$GC,1818,-2.11,-67.0,249.7,-10.3,320,1825,0.00,1.83,0.00,0.000,4,0.000,0.040,2244,1274,3104
$GC,1880,-2.11,-67.0,256.5,-10.5,326,1887,0.00,1.77,0.00,0.000,6,0.000,0.028,2244,2331,3104
$GC,2205,-2.11,-67.0,290.2,-10.5,357,2206,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2332,3102
$GC,2525,-2.11,-67.0,322.5,-10.2,387,2528,0.00,1.83,0.00,0.000,4,0.000,0.044,2244,1274,3101
$GC,2625,-2.11,-67.0,333.1,-9.8,396,2629,0.00,1.75,0.00,0.000,6,0.000,0.031,2244,2322,3100
$GC,2956,-2.13,-67.0,363.4,-9.1,427,2957,0.00,0.00,0.00,0.000,6,0.000,0.000,2244,2323,3097
$GC,3274,-2.16,-67.0,394.3,-10.0,457,3278,0.00,1.83,0.00,0.000,4,0.000,0.051,2244,3373,3096
$GC,3369,-2.18,-67.0,403.7,-10.7,465,3375,0.00,1.77,0.00,0.000,6,0.000,0.032,2244,2331,3094
$GC,3694,-2.22,-67.0,434.9,-9.6,496,3698,0.00,1.83,0.00,0.000,4,0.000,0.052,2244,3370,3093
$GC,3761,-2.24,-67.0,441.6,-9.8,502,3765,0.00,1.73,0.00,0.000,6,0.000,0.034,2244,2349,3092
$GC,4092,-2.28,-67.0,471.2,-8.2,533,4096,0.15,1.92,0.00,0.000,4,0.067,0.063,2201,1274,3089
$GC,4219,-2.28,-67.0,483.6,-10.2,544,4226,0.00,1.85,0.00,0.000,6,0.000,0.040,2201,2336,3088
$GC,4540,-2.28,-67.0,515.8,-10.2,568,4544,0.00,1.85,0.00,0.000,4,0.000,0.061,2201,3379,3086
$GC,4618,-2.28,-67.0,524.6,-11.4,571,4622,0.00,1.77,0.00,0.000,6,0.000,0.038,2201,2355,3085
$GC,4938,-2.28,-67.0,558.9,-10.7,587,4942,0.00,1.88,0.00,0.000,4,0.000,0.068,2201,3379,3083
$GC,5021,-2.28,-67.0,568.3,-11.0,590,5028,0.00,1.80,0.00,0.000,6,0.000,0.046,2201,2369,3082
$GC,5338,-2.28,-67.0,601.5,-10.4,606,5339,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2369,3080
$GC,5648,-2.28,-67.0,631.9,-9.8,621,5649,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2369,3078
$GC,5958,-2.28,-67.0,662.1,-9.8,636,5959,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2369,3077
$GC,6267,-2.28,-67.0,691.8,-9.2,651,6268,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2369,3074
$GC,6574,-2.28,-67.0,719.4,-8.8,666,6575,0.00,0.00,0.00,0.000,6,0.000,0.000,2202,2370,3073
$GC,6883,-2.28,-67.0,746.4,-8.6,681,6887,0.00,2.17,0.00,0.000,4,0.000,0.148,2202,3369,3072
$GC,6944,-2.28,-67.0,751.6,-9.2,684,6947,0.00,2.05,0.00,0.000,6,0.000,0.128,2201,2394,3072
$GC,7276,-2.28,-71.7,777.3,-7.5,700,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2393,3071
$GC,7586,-2.28,-71.7,801.9,-8.1,715,7590,0.00,2.58,0.00,0.000,4,0.000,0.181,2201,1277,3070
$GC,7685,-2.28,-71.7,811.0,-9.5,719,7692,0.00,2.47,0.00,0.000,6,0.000,0.161,2201,2362,3069
$GC,8000,-2.28,-71.7,837.6,-8.6,735,8004,0.00,1.83,0.00,0.000,4,0.000,0.058,2202,3407,3068
$GC,8077,-2.28,-71.7,844.9,-9.3,738,8082,0.00,1.77,0.00,0.000,6,0.000,0.036,2201,2373,3067
$GC,8398,-2.28,-71.7,875.0,-9.6,754,8402,0.00,1.92,0.00,0.000,4,0.000,0.059,2201,1285,3066
$GC,8471,-2.28,-71.7,881.7,-9.6,757,8475,0.00,1.95,0.00,0.000,6,0.000,0.040,2201,2421,3066
$GC,8797,-2.28,-71.7,909.8,-8.3,773,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2422,3064
$GC,9106,-2.29,-77.1,934.1,-7.5,788,9107,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2422,3064
$GC,9415,-2.31,-85.2,957.7,-7.2,803,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2422,3063
$GC,9725,-2.32,-95.5,979.9,-7.0,818,9726,0.00,0.00,0.00,0.000,6,0.000,0.000,2201,2422,3062
$STATE,9889,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9889,begin apogee
$GC,9894,-0.51,0.0,991.3,7.1,826,9951,1.92,0.00,51.95,1.439,6,0.110,0.000,2597,1974,2825
$STATE,9952,end apogee,CONTROL_FINISHED_OK
$STATE,9952,begin climb
$GC,9954,2.38,95.5,992.3,0.0,829,10044,2.92,0.00,85.32,1.406,6,0.070,0.000,3233,1974,2435
$GC,10339,2.33,95.5,960.1,10.3,848,10340,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1974,2431
$GC,10648,2.29,95.5,929.9,9.3,863,10652,0.12,1.90,0.00,0.000,4,0.121,0.050,3211,3042,2429
$GC,10747,2.24,95.5,920.7,9.6,867,10751,0.00,1.92,0.00,0.000,6,0.000,0.042,3210,1961,2429
$GC,11068,2.21,95.5,891.2,9.2,883,11070,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1961,2428
$GC,11377,2.18,95.5,864.2,8.6,898,11379,0.12,0.00,0.00,0.000,6,0.121,0.000,3188,1961,2427
$GC,11687,2.18,95.8,838.8,8.0,913,11688,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1961,2426
$GC,11996,2.18,96.0,813.8,8.0,928,11999,0.00,1.90,0.00,0.000,4,0.000,0.051,3188,3039,2426
$GC,12131,2.18,96.3,802.8,8.0,934,12134,0.00,1.90,0.00,0.000,6,0.000,0.041,3188,1948,2426
$GC,12462,2.21,109.5,778.9,6.7,950,12482,0.00,2.00,12.12,1.233,4,0.000,0.067,3188,905,2378
$GC,12573,2.18,109.5,769.7,9.4,955,12576,0.00,1.88,0.00,0.000,6,0.000,0.035,3188,1992,2377
$GC,12904,2.18,109.5,742.0,8.7,971,12907,0.00,2.00,0.00,0.000,4,0.000,0.062,3188,898,2376
$GC,13009,2.18,109.5,732.8,8.5,975,13016,0.00,1.80,0.00,0.000,6,0.000,0.035,3187,1940,2376
$GC,13325,2.18,109.5,706.9,8.3,991,13328,0.00,1.88,0.00,0.000,4,0.000,0.051,3188,3021,2376
$GC,13418,2.18,109.5,698.3,9.4,995,13423,0.00,1.90,0.00,0.000,6,0.000,0.041,3188,1945,2376
$GC,13745,2.18,109.5,669.4,8.9,1011,13746,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1944,2376
$GC,14054,2.19,115.3,644.8,7.4,1026,14063,0.00,0.00,6.50,1.019,6,0.000,0.000,3188,1945,2354
$GC,14364,2.20,119.5,620.5,7.6,1041,14374,0.00,1.90,5.60,0.957,4,0.000,0.048,3188,3013,2336
$GC,14457,2.20,119.5,613.0,8.2,1045,14461,0.00,1.88,0.00,0.000,6,0.000,0.039,3188,1951,2335
$GC,14779,2.20,119.8,587.9,8.0,1061,14783,0.00,1.88,0.00,0.000,4,0.000,0.049,3188,3021,2336
$GC,14834,2.20,122.2,583.4,7.8,1063,14846,0.00,1.85,3.97,0.773,6,0.000,0.038,3188,1961,2326
$GC,15155,2.20,122.2,558.1,8.3,1079,15156,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1961,2326
$GC,15464,2.20,122.2,530.9,9.1,1094,15467,0.00,1.85,0.00,0.000,4,0.000,0.048,3188,3019,2326
$GC,15599,2.21,123.3,519.4,7.9,1100,15602,0.00,1.77,0.00,0.000,6,0.000,0.038,3188,1987,2326
$GC,15921,2.21,123.3,493.2,8.1,1119,15925,0.00,1.80,0.00,0.000,4,0.000,0.048,3188,3018,2326
$GC,15971,2.21,123.7,489.3,8.0,1123,15977,0.00,1.80,0.00,0.000,6,0.000,0.038,3188,1987,2326
$GC,16296,2.21,123.7,462.0,8.7,1154,16300,0.00,1.92,0.00,0.000,4,0.000,0.064,3188,915,2326
$GC,16458,2.21,123.7,447.9,8.2,1168,16464,0.00,1.80,0.00,0.000,6,0.000,0.032,3188,1971,2326
$GC,16783,2.22,133.3,422.6,7.1,1199,16797,0.00,0.00,11.23,1.006,6,0.000,0.000,3188,1972,2281
$GC,17110,2.24,143.7,397.6,7.0,1230,17123,0.00,0.00,10.25,0.975,6,0.000,0.000,3188,1973,2239
$GC,17439,2.25,150.0,373.6,7.4,1261,17449,0.00,0.00,6.97,0.883,6,0.000,0.000,3188,1973,2213
$GC,17769,2.25,151.3,345.4,7.9,1292,17772,0.00,1.77,0.00,0.000,4,0.000,0.046,3188,3004,2213
$GC,17893,2.26,153.6,335.0,7.8,1303,17905,0.00,1.77,5.03,0.759,6,0.000,0.035,3188,1961,2198
$GC,18222,2.26,154.9,307.3,7.9,1334,18223,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1961,2198
$GC,18541,2.26,155.5,280.8,7.9,1364,18543,0.00,0.00,0.00,0.000,6,0.000,0.000,3188,1961,2198
$GC,18860,2.28,155.5,253.4,8.1,1394,18864,0.00,1.80,0.00,0.000,4,0.000,0.044,3188,3003,2198
$GC,19119,2.29,161.7,233.5,7.4,1436,19136,0.00,1.77,8.52,0.818,6,0.000,0.032,3188,1966,2165
$GC,19475,2.34,173.0,208.1,6.9,1499,19491,0.12,0.00,11.10,0.833,6,0.072,0.000,3221,1966,2119
$GC,19829,2.37,191.3,181.8,6.3,1562,19852,0.00,1.90,16.45,0.832,4,0.000,0.054,3221,912,2045
$GC,19998,2.41,214.5,171.8,5.8,1592,20026,0.00,1.77,20.52,0.821,6,0.000,0.028,3221,1970,1949
$GC,20366,2.47,231.7,148.3,6.4,1657,20389,0.12,0.00,15.07,0.782,6,0.068,0.000,3256,1970,1880
$GC,20728,2.49,231.7,121.2,8.0,1721,20733,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1970,1879
$GC,21071,2.55,247.5,97.9,6.5,1782,21088,0.00,0.00,14.32,0.717,6,0.000,0.000,3257,1970,1816
$GC,21427,2.58,247.5,69.7,8.2,1845,21433,0.00,1.85,0.00,0.000,4,0.000,0.045,3257,906,1816
$GC,21680,2.66,275.5,53.4,5.3,1890,21713,0.10,1.75,24.25,0.685,6,0.048,0.025,3296,1974,1701
$GC,22053,2.72,293.2,27.8,6.3,1956,22076,0.00,1.90,15.55,0.641,4,0.000,0.044,3296,915,1628
$GC,22330,2.78,317.0,4.1,5.7,2005,22358,0.00,1.73,20.62,0.627,6,0.000,0.025,3296,1978,1531
$STATE,22362,end climb,SURFACE_DEPTH_REACHED
$STATE,22362,begin surface coast
$FINISH,-0.3,1.021563
$STATE,22386,end surface coast,CONTROL_FINISHED_OK
$STATE,22386,begin surface
$SM_CCo,22406,133.23,0.615,0,0,587,548.98
$SM_GC,-5.37,0.00,0.00,133.23,0.000,0.000,0.615,417,2324,587,-10.54,-0.03,548.98
$IRIDIUM_FIX,1247.67,12032.42,310597,040430
$TT8_MAMPS,0.026078
$HUMID,1675
$INTERNAL_PRESSURE,9.57068
$TCM_TEMP,24.70
$XPDR_PINGS,389
$24V_AH,23.1,12.928
$10V_AH,10.2,10.449
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,Mmodem_TX,Mmodem_RX,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder
$DEVICE_SECS,28.525,106.225,345.375,133.225,0.000,129.861,209.386,173.436,109.750,0.000,0.000,17.254,3273.526,15146.280,629.973,3587.237,808.520,0.000,2285.214,0.000,3539.380,0.000,91.475
$DEVICE_MAMPS,174.109,181.012,1438.892,615.134,0.000,103.000,160.000,223.000,420.000,0.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,8.000,0.000,30.000
$SENSORS,SBE_CT,WL_BB2F,Optode,nil,nil,nil,nil,nil
$SENSOR_SECS,1367.524,808.744,761.249,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,105.000,33.000,0.000,0.000,0.000,0.000,0.000
$DATA_FILE_SIZE,110266,2015
$CAP_FILE_SIZE,197956,0
$CFSIZE,260165632,249946112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060308,101808,1253.040,12036.295,35,1.1,35,-0.8